Servo actuator default disconnected ID setting method for servo controlling system

ABSTRACT

A servo actuator default disconnected ID setting method is performed by a servo actuator controlling system, which includes a plurality of servo actuators. A first message is broadcasted which indicates that an original ID is replaced with a non-default-disconnected to the plurality of servo actuators. The original ID of each actuator is replaced with the non-default-disconnected according to the first message. A second message is broadcasted which indicates that the non-default-disconnected ID is replaced with a default disconnected ID. And the non-default-disconnected ID of each servo actuator is replaced with the default disconnected ID according to the second message.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims priority to Chinese Patent Application No.201610514818.4, filed Jun. 30, 2016, which is hereby incorporated byreference herein as if set forth in its entirety.

BACKGROUND 1. Technical Field

The present disclosure generally relates to servo control technology,and particularly to a servo actuator default disconnected ID settingmethod for a servo controlling system.

2. Description of Related Art

Robots are widely used in our daily life and entertainment. A robot mayinclude a master controller and a plurality of servo actuators. Theplurality of servo actuators are electrically connected to the mastercontroller via buses in series and/or in parallel. The master controllertransmits control signals via buses for controlling the plurality ofservo actuators to perform actions.

The buses can be Multiple Servo Motor Control Bus (MSMCB). The mastercontroller communicates with the plurality of servo actuators via theMSMCB. The master controller sends a command to the plurality of servoactuators via the MSMCB. The plurality of servo actuators send afeedback signal to the master controller, thus the master controller canobtain an operating state of the servo actuator.

Each servo actuator has an ID, and the master controller can selectivelycommunicate with one servo according to the ID. The ID can be stored inan Electrically Erasable Programmable Read-Only Memory (EEPROM) of theservo actuator. Each of the plurality of servo actuators includes anoutput interface and an input interfere. The input interface iselectrically coupled to the bus or an output interface of a previousservo actuator. The ID of each of the plurality of servo actuators isset up before assembling and each servo is arranged in a correctposition. However, when one of the servos is replaced or the ID of oneof the plurality of servo actuators is wrong, the robot cannot worknormally.

Therefore, a need exists in the industry to overcome the describedproblems.

BRIEF DESCRIPTION OF THE DRAWINGS

Many aspects of the present embodiments can be better understood withreference to the following drawings. The components in the drawings arenot necessarily drawn to scale, the emphasis instead being placed uponclearly illustrating the principles of the present embodiments.Moreover, in the drawings, all the views are schematic, and likereference numerals designate corresponding parts throughout the severalviews.

FIG. 1 is a diagrammatic drawing of a servo actuator according to oneembodiment.

FIG. 2 is a diagrammatic drawing of a master controller according to oneembodiment.

FIG. 3 is a diagrammatic drawing of a master controller according toanother embodiment.

FIG. 4 a diagrammatic drawing of a servo controlling system according toone embodiment.

FIG. 5 is a flowchart of a servo actuator ID setting method according toone embodiment.

FIG. 6 is a flowchart of a servo actuator ID setting method includingstep S201 according to another embodiment.

FIG. 7 is a flowchart of the step S201 of FIG. 6.

FIG. 8 is a flowchart of a servo actuator ID setting method according toanother embodiment.

FIG. 9 is a broadcast flowchart to a plurality of servo actuators of amaster controller according to one embodiment.

FIG. 10 is a flowchart of each of the plurality of servo actuators ofFIG. 9.

DETAILED DESCRIPTION

The disclosure is illustrated by way of example and not by way oflimitation in the figures of the accompanying drawings, in which likereference numerals indicate similar elements. It should be noted thatreferences “an” or “one” embodiment in this disclosure are notnecessarily to the same embodiment, and such references can mean “atleast one” embodiment.

Referring to FIG. 1, a servo actuator 1 can include a Micro ControllerUnit (MCU) and two interfaces. The MCU of the serves actuator 1 can bedenoted as a servo MCU 13. The servo MCU 13 is electrically coupled tothe two interfaces via a first internal bus L1. In the embodiment, theservo actuator 1 can be a servo motor, which includes a speed regulatinggear box, a motor, a potentiometer, and a control circuit. Each of thetwo interfaces is electrically coupled to a power line (VDD, not shown)and a ground line (GND, not shown). The first internal bus L1 can be aMultiple Servo Motor Control Bus (MSMCB). The MSMCB can transmit dataaccording to Inter-Integrated Circuit (I²C) protocol or UniversalAsynchronous Receiver and Transmitter (UART) protocol.

The two interfaces are labeled as a first interface 11 and a secondinterface 12. The first interface 11 and the second interface 12 canserve as an output interface or an input interface.

The servo actuator 1 can further include a first servo switch k1 and asecond servo switch k2. The first servo switch k1 is electricallycoupled between the first interface 11 and the servo MCU 13. The secondservo switch k2 is electrically coupled between the second interface 12and the servo MCU 13. The first switch k1 and the second switch k2 canbe controlled by the servo MCU 13.

An external bus L2 (shown in FIG. 4) is connected between a mastercontroller 2 (shown in FIG. 2) and the first interface 11 or the secondinterface 12 of a servo actuator 1. The servo actuator 1 can becontrolled by the master controller 2 via the external bus L2.

The servo actuator 1 can further include a first connection line 14connected between the first interface 11 and the servo MCU 13 and asecond connection line 15 connected between the second interface 12 andthe servo MCU 13. The servo MCU 13 can detect an access signal of thefirst interface 11 via the first connection line 14 and an access signalof the second interface 12 via the second connection line 15. When thefirst servo switch k1 and the second servo switch k2 are turned off, theservo MCU 13 can detect which of the first interface 11 and the secondinterface 12 is the output interface or the input interface via thefirst connection line 14 and the second connection line 15. When thefirst interface 11 receives the access signal, the first interface 11 isthe input interface and the second interface 12 is the output interface.When the second interface 12 receives the access signal, the firstinterface 11 is the output interface and the second interface 12 is theinput interface.

The servo actuator 1 can further include a storage to store an ID of theservo actuator 1. The storage can be selected from one of the group of aflash memory, a buffer, and an Electrically Erasable ProgrammableRead-Only Memory (EEPROM).

Referring to FIGS. 2 and 3, a master controller 2 can include a masterMCU 20 and a plurality of interfaces. The number of the interfaces canbe set by need. Preferably, the master controller 2 includes interfaceswhose quantity is selected from one to six. A plurality of servoactuators 1 can be electrically connected to the plurality ofinterfaces. In the embodiment, the master controller 2 includes fiveinterfaces, which are labeled as a first interface 21, a secondinterface 22, a third interface 23, a fourth interface 24, and a fifthinterface 25. In one embodiment, the plurality of interfaces can beelectrically coupled to a plurality of pins of the master MCU 20 via asecond internal bus L3. Master switches are connected between theplurality of interfaces and corresponding pins of the master MCU 20,respectively. The master MCU 20 can simultaneously broadcast the samemessage or different messages to the plurality of interfaces. In oneembodiment, the plurality of interfaces can be electrically coupled toone pin of the master MCU 20 as shown in FIG. 3. A master switch isconnected between each of the plurality of interfaces and the pin of themaster MCU 20. The master MCU 20 can broadcast the same message to theplurality of interfaces at a time.

The master switches are arranged in the second internal bus L3, and acontrol terminal of each master switch is electrically connected to themaster MCU 20. The master MCU 20 can control on and off of the masterswitches. Specially, a first master switch 2 a is arranged in the secondinternal bus L3 and connected to the first interface 21, a second masterswitch 2 b is arranged in the second internal bus L3 and connected tothe second interface 22, a third master switch 2 c is arranged in thesecond internal bus L3 and connected to the third interface 23, a fourthmaster switch 2 d is arranged in the second internal bus L3 andconnected to the fourth interface 24, and a fifth master switch 2 e isarranged in the second internal bits L3 and connected to the fifthinterface 25. Control terminals of the first master switch 2 a, thesecond roaster switch 2 b, the third master switch 2 c, the fourthmaster switch 2 d, and the fifth master switch 2 e are electricallyconnected to the master MCU 20.

FIG. 4 shows a servo controlling system including the master controller2 and the plurality of servo actuators 1. The plurality of servoactuators 1 are electrically coupled to the master controller 2 in aplurality of branches. Each branch of the servo actuators 1 iselectrically coupled to one interface of the master controller 2. Thenumber of the each branch of the servo actuators 1 can be set by need.In the embodiment, the first interface 21 is electrically coupled to twoservo actuators 1; the second interface 22 is electrically coupled totwo servo actuators 1; the third interface 23 is electrically coupled tothree servo actuators 1; the fourth interface 24 is electrically coupledto n servo actuators, which are labeled as a first servo actuator 1 a, asecond servo actuator 1 b, a third servo actuator 1 c, and a nth servoactuator 1 n; and the fifth interface 25 is electrically coupled tothree actuators 1.

The first servo actuator 1 a, the second servo actuator 1 b, the thirdservo actuator 1 c, and the nth servo actuator 1 n are coupled to thefourth interface 24 via the bus L1 in series. In detail, one of the twointerfaces (e.g. the first interface 11, which is served as the inputinterface) of the first servo actuator 1 a is connected to the fourthinterface 24, and the other of the two interfaces (e.g. the secondinterface 12, which is served as the output interface) is seriallyconnected to one of the two interfaces (e.g. the first interface 11,which is served as the input interface) of the second servo actuator 1b, and so on. Thus, the plurality of servos actuators 1 a to 1 n arecoupled to the master controller 2 in series.

During ID setting process of the plurality of servo actuators, the servoMCU 13 of a current servo actuator determines whether the firstinterface is the input interface or the output interface via the firstconnection line 14. When the first interface is input interface, and thesecond interface is output interface, the servo MCU 13 of the currentservo actuator 1 can read a message from the bus L1 via the firstinterface 11 and the first connection line 14, the ID of the currentservo actuator 1 is set according to the message. And then the firstservo switch and second servo switch are turned on, a next servoactuator 1 is connected to the bus L1. The next servo actuator 1performs similar process with the current to set ID. And the ID of eachof plurality of servo actuators 1 can be set.

In the embodiment, the master controller 2 and each of the plurality ofservo actuators 1 can function as one node, and the master controller 2is a master node, each of the plurality of servo actuators 1 is a slavenode.

When the fourth master switch 2 d of the fourth interface is turned off,the first servo actuator 1 a, the second servo actuator 1 b, the thirdservo actuator 1 c, . . . and the nth servo actuator 1 n are indisconnected state and cannot receive message from the master controller2. When the fourth master switch 2 d of the fourth interface is turnedon, the first servo actuator 1 a, the second servo actuator 1 b, thethird servo actuator 1 c, . . . and the nth servo actuator 1 n canreceive the message from the master controller 2. When the servo switchconnected to the input interface of one servo actuator is turned off,the one and next servo actuators are in a disconnected state. When theservo switch connected to the input interface of the current servoactuator is turned on and the servo switch connected to the outputinterface of the current servo actuator is turned off, the nextactuators are in the disconnected state.

In the embodiment, when the previous servo actuators before the oneservo actuator are in the connected state, the first servo switch k1 andthe second servo switch k2 are turned off, and the one servo actuator 1and the next actuators cannot connect to the master controller 2 andreceive no message from the master controller 2.

When previous servo actuators 1 before the one actuator are in aconnected state, which can receive the messages from the mastercontroller 2, the one actuator can connect to the master controller viathe servo switch connected to the input interface and control the nextactuators to connect to the master controller via the servo switchconnected to the output interface. The servo MCU 13 of the one servoactuator 1 can detect which of the first interface 11 and the secondinterface is the input interface or the output interface via a firstaccess signal of the first connection line 14 and a second access signalof the second connection line 15. If the one servo actuator 1 is neededto connect to the master controller 2, the servo MCU 13 of the servoactuator 1 turns on the servo switch connected to the input interface,thus the one servo actuator 1 is connected to the master controller 2.If the servo MCU 13 of the servo actuator 1 controls the servo switchconnected to the output interface to turn on, the next servo actuatorscan connect to the master controller 2. When the servo switch connectedto the output interface of the current servo actuator 1 is turned off,the next actuators cannot connect to the master controller 2.

FIG. 5 shows a flowchart of a servo actuator ID setting method accordingto one embodiment. Depending on the embodiment, additional steps may beadded, others removed, and the ordering of the steps may be changed.

The plurality of interfaces of the master controller 2 is selected toturn on in sequence, the following steps are repeatedly performed to setservo actuators ID of the servo actuators connected to the plurality ofinterfaces of the master controller.

In step S101, servo actuators disconnecting step: the plurality servoactuators 1 are set in a predetermined disconnected state. In thepredetermined disconnected state, the message broadcasted by the mastercontroller 2 cannot be transmitted to the next servo actuators.

In step S102, servo actuator ID setting step: the master controller 2broadcasts a message to the bus L3. The message indicates that anoriginal ID is replaced with a target ID. The servo MCU 13 of the servoactuator which is directly connected to the interface of the mastercontroller 2 detects which of the first interface and the secondinterface is the input interface via the first connection line 14 andthe second connection line 15. If the first interface is the inputinterface, the second interface is the output interface. If the firstinterface is the output interface, the first interface is the outputinterface. The servo switch connected to the input interface is turnedon and the servo actuator 1 is connected to the master controller 2.Take the fourth interface 24 for example, the message is received by thefirst servo actuator 1 a, the original ID of the first servo actuator 1a is replaced by the target ID. And then the servo switch connected tothe output interface is turned on, such that the second servo actuator 1b can receive the message from the master controller 2. The step S102 isrepeatedly performed until all servo actuators ID of the servo actuators1 are set. The target ID of each of the plurality of servo actuators isunique.

In the embodiment, the target ID of the first servo actuator 1 a is setas 1#; the target ID of the second servo actuator 1 b is set as 2#; thetarget ID of the third servo actuator 1 c is set as 3#; . . . and thetarget ID of the nth servo actuator 1 d is set as n#.

FIG. 6 shows a flowchart of a servo actuator ID setting method accordingto another embodiment. Depending on the embodiment additional steps maybe added, others removed, and the ordering of the steps may be changed.

The plurality of interfaces of the master controller 2 are selected toturn on in sequence, the following steps are repeatedly performed to setservo actuators ID of the servo actuators connected to the plurality ofinterfaces of the master controller.

In step S201, default disconnected ID setting step: the mastercontroller 2 broadcasts a first message to all servo actuators connectedto the plurality of interfaces of the master controller 2, which denotesthat the servo actuator is disconnected from the master controller 2.The first message indicates that an original ID is replaced with adefault disconnected ID. The original ID of each of the plurality ofservo actuators is replaced with the default disconnected ID accordingto the message. The default disconnected ID is stored in the storage.When a servo actuator ID is the default disconnected ID, the servoswitch connected to the input interface is set to be turned on and theservo switch connected to the output interface is set to be turned off.When the servo actuator ID is different from the default disconnectedID, the two servo switches connected to the input and output interfacesare set to be turned on. The default disconnected ID is set by need. Inthe embodiment, the default disconnected ID is 0xFF.

In step S202, the master controller 2 broadcasts a second messageindicating that the default disconnected ID is replaced with a targetID. Thus, each of the plurality of servo actuators is sequentiallyconnected to the master controller 2. Once a servo actuator is connectedto the master controller 2, the default disconnected ID of the servoactuator is replaced with the target ID. Then the two servo switches ofthe servo actuator are turned on, and the next servo actuator isconnected to the master controller 2. The step S202 is repeatedlyperformed until all servo actuators ID of the servo actuators 1 are set.Each target ID of each of the plurality of servo actuators is unique.

In the embodiment, the ID of all servo actuators 1 are set as thedefault disconnected ID. When the servo actuator ID is the defaultdisconnected ID, the servo switch connected to the input interface isset to be turned on and the servo switch connected to the outputinterface is set to be turned off. And then the master controller 2broadcasts the second message indicating that the default disconnectedID is replaced with a target ID. Thus, each of the plurality of servoactuators sequentially receives the second message and the defaultdisconnected ID of the servo actuator is replaced with the target ID,and the two servo switches connected to the output interfaces are turnedon. The next servo actuator can receive the second message. In otherwords, any one servo actuator cannot connect to the master controllerbefore the ID of previous servo actuator is set.

In an initial state, take the fourth interface 21 for example, only theservo switch connected to the input interface of the first servoactuator 1 a is turned on; the first servo actuator 1 a is electricallycoupled to the master controller 2 to receive the second message. Theservo actuators 1 after the first servo actuator 1 a cannot connect tothe master controller 2. When the default disconnected ID of the firstservo actuator 1 a is replaced with the target ID, the servo switchconnected to the output interface of the first servo actuator 1 a isturned on. And the default disconnected ID of the second servo actuator1 b is replaced by the target ID in a similar manner with the firstservo actuator 1 a.

FIG. 7 shows a flowchart of a servo actuator ID setting method accordingto another embodiment. Depending on the embodiment, additional steps maybe added, others removed, and the ordering of the steps may be changed.

In step S2011, the master controller 2 broadcasts a first messageindicating an original ID is replaced with a non-default-disconnectedID. The non-default-disconnected ID is different from the defaultdisconnected ID, and denotes that the servo actuator can communicatewith the master controller 2. The original ID of each of the pluralityof servo actuators is replaced with the non-default-disconnected IDaccording to the first message. The master controller 2 reads back andchecks whether there is a default disconnected ID in the bus L1. Inother words, the master controller 2 reads back and checks whether aservo actuator ID is the default disconnected ID. If the servo actuatorID is the default disconnected ID, the master controller 2 keepsbroadcasting the first message until the all servo actuators ID are setas the non-default-disconnected ID. The non-default-disconnected ID canbe set by need, which is different with the default disconnected ID. Inthe embodiment, the non-default-disconnected ID is set as 0xFE. The twoservo switches of each of the plurality of servo actuators are set to beturned on, and each of the plurality of servo actuators can receive themessage sent by the master controller 2.

In step S2022, the master controller 2 broadcasts a second messageindicating the non-default-disconnected ID is replaced with a defaultdisconnected ID. The non-default-disconnected ID of each of theplurality of servo actuators is replaced with the default disconnectedID according to the second message.

FIG. 8 shows a flowchart of a servo actuator ID setting method accordingto another embodiment. Depending on the embodiment, additional steps maybe added, others removed, and the ordering of the steps may be changed.The servo actuator ID setting method of FIG. 8 is similar to the servoactuator ID setting method of FIG. 5 except that the step S201 isreplaced with the steps S2011 and S2012 of FIG. 6.

The plurality of master switches of the interfaces of the mastercontroller 2 are selected to turn on in sequence, the following stepsare repeatedly performed to set servo actuators ID of the servoactuators connected to the plurality of interfaces of the mastercontroller. In the embodiment, referring also to FIGS. 2-4, when thefirst master switch 2 a of the first interface 21 is set to be turnedon, the other master switches of remaining interfaces are set to beturned off; the servo actuators ID of the servo actuators connected tothe first interface 21 are set. Similarly, when the second master switch2 b of the second interface 22 is set to be turned on, the other masterswitches of remaining interfaces are set to be turned off; the servoactuators ID of the servo actuators connected to the second interface 22are set. When the third master switch 2 c of the third interface 23 isset to be turned on, the other switches of remaining interfaces are setto be turned off; the servo actuators ID of the servo actuatorsconnected to the third interface 23 are set. When the fourth masterswitch 2 d of the fourth interface 24 is set to be turned on, the otherswitches of remaining interfaces are set to be turned off; the servoactuators ID of the servo actuators connected to the fourth interface 24are set. When the fifth master switch 2 e of the fifth interface 25 isset to be turned on, the other switches of remaining interfaces are setto be turned off; the servo actuators ID of the servo actuatorsconnected to the fifth interface 25 are set. A switching order of theplurality interfaces is not limited to the first interface, the secondinterface, . . . the nth interface, any one interface can be selected tofirstly be turned on, and then the other interfaces are set to be turnedon one by one until the servo actuators ID of each branch of servoactuators are set.

FIG. 9 shows a broadcast flowchart to a plurality of servo actuators ofa master controller according to one embodiment. Depending on theembodiment, additional steps may be added, others removed, and theordering of the steps may be changed.

In step S301, the master controller 2 broadcasts a first messageindicating an original ID is replaced with a non-default-disconnectedID. The original ID of each of the plurality of servo actuators isreplaced with the non-default-disconnected ID according to the firstmessage. The master controller 2 reads back and checks whether there isa default disconnected ID in the bus L1. In other words, the mastercontroller 2 reads back and checks whether a servo actuator ID is thedefault disconnected ID. When the servo actuator ID is the defaultdisconnected ID, the master controller 2 keeps broadcasting the firstmessage until the all servo actuators ID are set as thenon-default-disconnected ID, and step S302 is performed. In theembodiment, the non-default-disconnected ID is set as 0xFE.

In step S302, the master controller 2 broadcasts a second messageindicating the non-default-disconnected ID is replaced with a defaultdisconnected ID. The non-default-disconnected ID of each of theplurality of servo actuators is replaced with the default disconnectedID according to the second message. In the embodiment, the defaultdisconnected ID is 0xFF.

In step S303, the master controller 2 broadcasts a third messageindicating that the default disconnected ID is replaced with a targetID. The default disconnected ID of each of the plurality of servoactuators is replaced with the target ID. The step S303 is repeatedlyperformed until all servo actuators ID of the plurality of servoactuators 1 are replaced with the target ID. When the master controllerbroadcasts the third message, the master controller 2 reads back andcheeks whether the default disconnected ID of the one servo actuatorwhich can receive the third message is replaced with the target ID. Whenthe default disconnected ID of the one servo actuator is replaced withthe target ID, the master controller 2 broadcasts the third message tothe next servo actuator. The target ID of each of the plurality of servoactuators is unique. Take the fourth interface 24 for example, when thedefault disconnected ID (0xFF) of the first servo actuator 1 a isreplaced with the target ID (0x01) the master controller 2 broadcaststhe third message including the target ID (0x02) to the next servoactuator. Preferably, the target ID increases or decreases in order.Such as, the target ID increases from 0x01, 0x02, . . . to 0x0n ordecreases from 0x0n, . . . to 0x02, 0x01.

FIG. 10 shows a flowchart of each of the plurality of servo actuators ofFIG. 9.

In step S401, reading the servo actuator ID stored in the storage by theservo MCU 13.

In step S402, determining whether the servo actuator ID is the defaultdisconnected ID. When the servo actuator ID is not the defaultdisconnected ID, step 403 is performed; when the servo actuator ID isthe default disconnected ID, step 404 is performed.

In step S403, turning on the first servo-switch k1 and the second servoswitch k2.

In step S404, detecting whether the first connection line 14 and thesecond connection line 15 has an access signal, and step S405 and S406are performed.

In step S405, determining whether the first connection line 14 receivesthe access signal. When the first connection line 14 doesn't receive theaccess signal, step S406 is performed; when the first connection line 14receives the access signal, step 407 is performed.

In step S406, turning off the first servo switch k1.

In step S407, turning on the first servo switch k1.

In step S408, determining whether the second connection line 15 receivesthe access signal. When the second connection line 15 doesn't receivethe access signal, step S409 is performed; when the second connectionline 15 receives the access signal step S410 is performed.

In step S409, turning on the second servo switch k2.

In step S410, turning off the second servo switch k2.

In step S403, when the current servo actuator ID is not the defaultdisconnected ID, the first and second servo switches are set to beturned on, such that the current servo actuator 1 can receive themessage broadcasted by the master controller 2. And then the servoactuator 1 can perform a certain action according to the messagebroadcasted by the master controller 2. When the servo actuator ID ofthe previous servo actuator 1 before the one servo actuator 1 is thedefault disconnected ID, the one servo actuator 1 cannot receive themessage broadcasted by the master controller 2.

In steps S404 to S410, when the servo actuator ID of the one servoactuator 1 is the default disconnected ID, the servo MCU 13 detectswhich of the first interface and the second interface is the inputinterface or the output interface via the first connection line 14 andthe second connection line 15. The first interface is the inputinterface and the second interface is the output interface or the firstinterface is the output interface and the second interface is the inputinterface. And then the servo switch of the input interface is set to beturned on and the servo switch of the output interface is set to beturned off. Such that the one servo actuator can connect to the mastercontroller via the bus L1 and perform the certain action, such assetting the target ID. When the first interface is the input interface,the first servo switch k1 is set to be turned on, and the second servoswitch k2 is set to be turned off.

In the embodiment, when the step S301 is performed by the mastercontroller 2, the steps S401-S403 are simultaneously performed by theservo actuators connected to the one interface of the master controller2. As the original IDs of most of the plurality of servo actuators arenot the default disconnected ID (e.g. 0xFF), such that each of theplurality of servo actuators receives the broadcasted message from themaster controller 2 and the original ID is replaced with thenon-default-disconnected ID (e.g. 0xFE). Even if the original ID of onepart of the plurality of servo actuators are the default disconnectedID, the default disconnected ID is replaced with thenon-default-disconnected ID via steps S401, S402, and S404-S410, thenext servo actuators can receive the broadcasted message from the mastercontroller to replace the original ID with the non-default-disconnectedID. The original IDs of the all servo actuators are replaced with thenon-default-disconnected ID.

The step S302 is performed by the master controller 2. The mastercontroller 2 broadcasts the message to the all servo actuators via theexternal bus L2, such that the non-default-disconnected IDs of all servoactuators are replaced with the default disconnected ID. When thenon-default disconnected-ID of one servo actuator is replaced with thedefault disconnected ID, in a next cycle, the steps S401, S402, andS404-S410 are performed, such that the servo switch connected to theinput interface is set to be turned on and the servo switch connected tothe output interface is set to be turned off. Thus, only the first servoactuator connected to any one of the plurality of interfaces of themaster controller 2 can receive the broadcasted message from the mastercontroller 2.

The step S303 is performed by the master controller 2. The mastercontroller 2 broadcasts the third message to the first internal bus L1.When the master controller 2 broadcasts the third message first time toreplace the default disconnected ID with the target ID, only the firstservo actuator 1 can receive the third message. The steps S401, S402,S404-S410 are performed by the first servo actuator 1, the defaultdisconnected ID is replaced with the target ID (e.g. 0x01). The mastercontroller 2 reads back and cheeks that the ID setting process of thefirst servo actuator 1 is completed. And in a next cycle of thebroadcast, the master controller 2 broadcasts a next third message whichis different from a last third message having the target ID (e.g. 0x02),the steps S401-S403 are performed by the first actuator 1, but thetarget ID (0x01) is not be replaced. The steps S401, S402, and S404-S410are performed by the second actuator 1, the default disconnected ID ofthe second servo actuator 1 is replaced with the target (0x02). Themaster controller 2 reads back and checks that the ID setting process ofthe second servo actuator 1 is completed. And in a next cycle of thebroadcast, the master controller 2 broadcasts a next third message whichis different from the last third message having the target ID (e.g.0x03), the steps S401-S403 are performed by the first and secondactuators, but the target ID (0x01 and 0x02) is not be replaced. Thesteps S401, S402, and S404-S410 are performed by the third actuator 1,the default disconnected ID of the third servo actuator 1 is replacedwith the target (0x03). The master controller 2 keeps broadcasting thethird message until the all servo actuators are set as the target IDs.

In the servo actuator ID setting method, the master controller 2broadcasts the messages, and each of the plurality of servo actuatorscan automatically complete ID setting according to the messages.

Although the features and elements of the present disclosure aredescribed as embodiments in particular combinations, each feature orelement can be used alone or in other various combinations within theprinciples of the present disclosure to the full extent indicated by thebroad general meaning of the terms in which the appended claims areexpressed.

What is claimed is:
 1. A computer-implemented identifier (ID) settingmethod, comprising: providing at least two servo actuators comprising afirst servo actuator and a second servo actuator connected in sequence,the first servo actuator and the second servo actuator each comprising afirst interface and a second interface, the first servo actuator and thesecond servo actuators coupled to an interface of a master controller ofa servo controlling system via a bus, the master controller comprising amicro controller unit (MCU); broadcasting, by the master controller, afirst message to the servo actuators, the first message indicating thatan original ID of the servo actuators is replaced with anon-default-disconnected ID, wherein the non-default-disconnected ID isdifferent from a default-disconnected ID; detecting, by the servoactuators, which of the first interface and the second interface of theservo actuators receives the first message; when the first interfacereceives the first message, setting the first interface to be an inputinterface by the servo actuators, and setting the second interface to bean output interface by the servo actuators; turning on the inputinterfaces and the output interfaces of the servo actuators when acurrent ID of the servo actuators is same as thenon-default-disconnected ID; broadcasting a second message to the servoactuators by the master controller, the second message indicating thatthe non-default-disconnected ID is replaced with thedefault-disconnected ID; replacing the non-default-disconnected ID ofthe servo actuators with the default-disconnected ID by the servoactuators according to the second message; and turning on the inputinterface of the servo actuators and turning off the output interface ofthe servo actuators when the current ID of the servo actuators is sameas the default-disconnected ID.
 2. The computer-implemented method asclaimed in claim 1, wherein the first interface and the second interfaceare turned on or off by a first servo switch and a second servo switch.3. The computer-implemented method as claimed in claim 2, wherein thefirst interface and the second interface is detected by a firstconnection line between the first interface and the MCU and by a secondconnection line between the second interface and the MCU.
 4. Thecomputer-implemented method as claimed in claim 2, wherein the currentID is stored in a storage of the servo actuators.
 5. Thecomputer-implemented method as claimed in claim 2, wherein the servoactuators are configured in a plurality of branches, wherein the servoactuators of each branch are connected in series and electricallycoupled to the interface of the master controller.